X-Git-Url: https://review.openocd.org/gitweb?a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fftdi.c;h=7175925e420c031f266731f98efdb5030c576fc8;hb=599f1cf763448f043e97702ca8a611f0ab87b849;hp=72b08fd4c95e65c058469136b4bc158dbb7d7db5;hpb=f5e97b5e1b62322b45b4ff5f2f2797c5e9188739;p=openocd.git

diff --git a/src/jtag/drivers/ftdi.c b/src/jtag/drivers/ftdi.c
index 72b08fd4c9..7175925e42 100644
--- a/src/jtag/drivers/ftdi.c
+++ b/src/jtag/drivers/ftdi.c
@@ -1,21 +1,8 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+
 /**************************************************************************
 *   Copyright (C) 2012 by Andreas Fritiofson                              *
 *   andreas.fritiofson@gmail.com                                          *
-*                                                                         *
-*   This program is free software; you can redistribute it and/or modify  *
-*   it under the terms of the GNU General Public License as published by  *
-*   the Free Software Foundation; either version 2 of the License, or     *
-*   (at your option) any later version.                                   *
-*                                                                         *
-*   This program is distributed in the hope that it will be useful,       *
-*   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-*   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
-*   GNU General Public License for more details.                          *
-*                                                                         *
-*   You should have received a copy of the GNU General Public License     *
-*   along with this program; if not, write to the                         *
-*   Free Software Foundation, Inc.,                                       *
-*   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
 
 /**
@@ -55,11 +42,11 @@
  *
  * This code uses information contained in the MPSSE specification which was
  * found here:
- * http://www.ftdichip.com/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
+ * https://www.ftdichip.com/Support/Documents/AppNotes/AN2232C-01_MPSSE_Cmnd.pdf
  * Hereafter this is called the "MPSSE Spec".
  *
- * The datasheet for the ftdichip.com's FT2232D part is here:
- * http://www.ftdichip.com/Documents/DataSheets/DS_FT2232D.pdf
+ * The datasheet for the ftdichip.com's FT2232H part is here:
+ * https://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf
  *
  * Also note the issue with code 0x4b (clock data to TMS) noted in
  * http://developer.intra2net.com/mailarchive/html/libftdi/2009/msg00292.html
@@ -71,9 +58,13 @@
 #endif
 
 /* project specific includes */
+#include <jtag/adapter.h>
 #include <jtag/interface.h>
+#include <jtag/swd.h>
 #include <transport/transport.h>
 #include <helper/time_support.h>
+#include <helper/log.h>
+#include <helper/nvp.h>
 
 #if IS_CYGWIN == 1
 #include <windows.h>
@@ -85,10 +76,14 @@
 #include "mpsse.h"
 
 #define JTAG_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
+#define JTAG_MODE_ALT (LSB_FIRST | NEG_EDGE_IN | NEG_EDGE_OUT)
+#define SWD_MODE (LSB_FIRST | POS_EDGE_IN | NEG_EDGE_OUT)
 
 static char *ftdi_device_desc;
-static char *ftdi_serial;
 static uint8_t ftdi_channel;
+static uint8_t ftdi_jtag_mode = JTAG_MODE;
+
+static bool swd_mode;
 
 #define MAX_USB_IDS 8
 /* vid = pid = 0 marks the end of the list */
@@ -100,16 +95,33 @@ static struct mpsse_ctx *mpsse_ctx;
 struct signal {
 	const char *name;
 	uint16_t data_mask;
+	uint16_t input_mask;
 	uint16_t oe_mask;
 	bool invert_data;
+	bool invert_input;
 	bool invert_oe;
 	struct signal *next;
 };
 
 static struct signal *signals;
 
+/* FIXME: Where to store per-instance data? We need an SWD context. */
+static struct swd_cmd_queue_entry {
+	uint8_t cmd;
+	uint32_t *dst;
+	uint8_t trn_ack_data_parity_trn[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
+} *swd_cmd_queue;
+static size_t swd_cmd_queue_length;
+static size_t swd_cmd_queue_alloced;
+static int queued_retval;
+static int freq;
+
 static uint16_t output;
 static uint16_t direction;
+static uint16_t jtag_output_init;
+static uint16_t jtag_direction_init;
+
+static int ftdi_swd_switch_seq(enum swd_special_seq seq);
 
 static struct signal *find_signal_by_name(const char *name)
 {
@@ -127,9 +139,11 @@ static struct signal *create_signal(const char *name)
 		psig = &(*psig)->next;
 
 	*psig = calloc(1, sizeof(**psig));
-	if (*psig)
-		(*psig)->name = strdup(name);
-	if ((*psig)->name == NULL) {
+	if (!*psig)
+		return NULL;
+
+	(*psig)->name = strdup(name);
+	if (!(*psig)->name) {
 		free(*psig);
 		*psig = NULL;
 	}
@@ -138,7 +152,6 @@ static struct signal *create_signal(const char *name)
 
 static int ftdi_set_signal(const struct signal *s, char value)
 {
-	int retval;
 	bool data;
 	bool oe;
 
@@ -169,27 +182,53 @@ static int ftdi_set_signal(const struct signal *s, char value)
 		oe = s->invert_oe;
 		break;
 	default:
-		assert(0 && "invalid signal level specifier");
+		LOG_ERROR("invalid signal level specifier \'%c\'(0x%02x)", value, value);
 		return ERROR_FAIL;
 	}
 
+	uint16_t old_output = output;
+	uint16_t old_direction = direction;
+
 	output = data ? output | s->data_mask : output & ~s->data_mask;
 	if (s->oe_mask == s->data_mask)
-		direction = oe ? output | s->oe_mask : output & ~s->oe_mask;
+		direction = oe ? direction | s->oe_mask : direction & ~s->oe_mask;
 	else
 		output = oe ? output | s->oe_mask : output & ~s->oe_mask;
 
-	retval = mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
-	if (retval == ERROR_OK)
-		retval = mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
-	if (retval != ERROR_OK)	{
-		LOG_ERROR("couldn't initialize FTDI GPIO");
-		return ERROR_JTAG_INIT_FAILED;
-	}
+	if ((output & 0xff) != (old_output & 0xff) || (direction & 0xff) != (old_direction & 0xff))
+		mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
+	if ((output >> 8 != old_output >> 8) || (direction >> 8 != old_direction >> 8))
+		mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
 
 	return ERROR_OK;
 }
 
+static int ftdi_get_signal(const struct signal *s, uint16_t *value_out)
+{
+	uint8_t data_low = 0;
+	uint8_t data_high = 0;
+
+	if (s->input_mask == 0) {
+		LOG_ERROR("interface doesn't provide signal '%s'", s->name);
+		return ERROR_FAIL;
+	}
+
+	if (s->input_mask & 0xff)
+		mpsse_read_data_bits_low_byte(mpsse_ctx, &data_low);
+	if (s->input_mask >> 8)
+		mpsse_read_data_bits_high_byte(mpsse_ctx, &data_high);
+
+	mpsse_flush(mpsse_ctx);
+
+	*value_out = (((uint16_t)data_high) << 8) | data_low;
+
+	if (s->invert_input)
+		*value_out = ~(*value_out);
+
+	*value_out &= s->input_mask;
+
+	return ERROR_OK;
+}
 
 /**
  * Function move_to_state
@@ -199,7 +238,7 @@ static int ftdi_set_signal(const struct signal *s, char value)
  *
  * @param goal_state is the destination state for the move.
  */
-static int move_to_state(tap_state_t goal_state)
+static void move_to_state(tap_state_t goal_state)
 {
 	tap_state_t start_state = tap_get_state();
 
@@ -209,21 +248,22 @@ static int move_to_state(tap_state_t goal_state)
 	*/
 
 	/* do the 2 lookups */
-	int tms_bits  = tap_get_tms_path(start_state, goal_state);
+	uint8_t tms_bits  = tap_get_tms_path(start_state, goal_state);
 	int tms_count = tap_get_tms_path_len(start_state, goal_state);
+	assert(tms_count <= 8);
 
-	DEBUG_JTAG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
+	LOG_DEBUG_IO("start=%s goal=%s", tap_state_name(start_state), tap_state_name(goal_state));
 
 	/* Track state transitions step by step */
 	for (int i = 0; i < tms_count; i++)
 		tap_set_state(tap_state_transition(tap_get_state(), (tms_bits >> i) & 1));
 
-	return mpsse_clock_tms_cs_out(mpsse_ctx,
-		(uint8_t *)&tms_bits,
+	mpsse_clock_tms_cs_out(mpsse_ctx,
+		&tms_bits,
 		0,
 		tms_count,
 		false,
-		JTAG_MODE);
+		ftdi_jtag_mode);
 }
 
 static int ftdi_speed(int speed)
@@ -236,6 +276,9 @@ static int ftdi_speed(int speed)
 		return retval;
 	}
 
+	if (!swd_mode && speed >= 10000000 && ftdi_jtag_mode != JTAG_MODE_ALT)
+		LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
+			 "the command \"ftdi tdo_sample_edge falling\"");
 	return ERROR_OK;
 }
 
@@ -247,6 +290,11 @@ static int ftdi_speed_div(int speed, int *khz)
 
 static int ftdi_khz(int khz, int *jtag_speed)
 {
+	if (khz == 0 && !mpsse_is_high_speed(mpsse_ctx)) {
+		LOG_DEBUG("RCLK not supported");
+		return ERROR_FAIL;
+	}
+
 	*jtag_speed = khz * 1000;
 	return ERROR_OK;
 }
@@ -261,13 +309,12 @@ static void ftdi_end_state(tap_state_t state)
 	}
 }
 
-static int ftdi_execute_runtest(struct jtag_command *cmd)
+static void ftdi_execute_runtest(struct jtag_command *cmd)
 {
-	int retval = ERROR_OK;
 	int i;
 	uint8_t zero = 0;
 
-	DEBUG_JTAG_IO("runtest %i cycles, end in %s",
+	LOG_DEBUG_IO("runtest %i cycles, end in %s",
 		cmd->cmd.runtest->num_cycles,
 		tap_state_name(cmd->cmd.runtest->end_state));
 
@@ -276,10 +323,10 @@ static int ftdi_execute_runtest(struct jtag_command *cmd)
 
 	/* TODO: Reuse ftdi_execute_stableclocks */
 	i = cmd->cmd.runtest->num_cycles;
-	while (i > 0 && retval == ERROR_OK) {
+	while (i > 0) {
 		/* there are no state transitions in this code, so omit state tracking */
 		unsigned this_len = i > 7 ? 7 : i;
-		retval = mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, JTAG_MODE);
+		mpsse_clock_tms_cs_out(mpsse_ctx, &zero, 0, this_len, false, ftdi_jtag_mode);
 		i -= this_len;
 	}
 
@@ -288,17 +335,14 @@ static int ftdi_execute_runtest(struct jtag_command *cmd)
 	if (tap_get_state() != tap_get_end_state())
 		move_to_state(tap_get_end_state());
 
-	DEBUG_JTAG_IO("runtest: %i, end in %s",
+	LOG_DEBUG_IO("runtest: %i, end in %s",
 		cmd->cmd.runtest->num_cycles,
 		tap_state_name(tap_get_end_state()));
-	return retval;
 }
 
-static int ftdi_execute_statemove(struct jtag_command *cmd)
+static void ftdi_execute_statemove(struct jtag_command *cmd)
 {
-	int retval = ERROR_OK;
-
-	DEBUG_JTAG_IO("statemove end in %s",
+	LOG_DEBUG_IO("statemove end in %s",
 		tap_state_name(cmd->cmd.statemove->end_state));
 
 	ftdi_end_state(cmd->cmd.statemove->end_state);
@@ -306,35 +350,31 @@ static int ftdi_execute_statemove(struct jtag_command *cmd)
 	/* shortest-path move to desired end state */
 	if (tap_get_state() != tap_get_end_state() || tap_get_end_state() == TAP_RESET)
 		move_to_state(tap_get_end_state());
-
-	return retval;
 }
 
 /**
  * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
  * (or SWD) state machine. REVISIT: Not the best method, perhaps.
  */
-static int ftdi_execute_tms(struct jtag_command *cmd)
+static void ftdi_execute_tms(struct jtag_command *cmd)
 {
-	DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
+	LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
 
 	/* TODO: Missing tap state tracking, also missing from ft2232.c! */
-	return mpsse_clock_tms_cs_out(mpsse_ctx,
+	mpsse_clock_tms_cs_out(mpsse_ctx,
 		cmd->cmd.tms->bits,
 		0,
 		cmd->cmd.tms->num_bits,
 		false,
-		JTAG_MODE);
+		ftdi_jtag_mode);
 }
 
-static int ftdi_execute_pathmove(struct jtag_command *cmd)
+static void ftdi_execute_pathmove(struct jtag_command *cmd)
 {
-	int retval = ERROR_OK;
-
 	tap_state_t *path = cmd->cmd.pathmove->path;
 	int num_states  = cmd->cmd.pathmove->num_states;
 
-	DEBUG_JTAG_IO("pathmove: %i states, current: %s  end: %s", num_states,
+	LOG_DEBUG_IO("pathmove: %i states, current: %s  end: %s", num_states,
 		tap_state_name(tap_get_state()),
 		tap_state_name(path[num_states-1]));
 
@@ -342,10 +382,10 @@ static int ftdi_execute_pathmove(struct jtag_command *cmd)
 	unsigned bit_count = 0;
 	uint8_t tms_byte = 0;
 
-	DEBUG_JTAG_IO("-");
+	LOG_DEBUG_IO("-");
 
 	/* this loop verifies that the path is legal and logs each state in the path */
-	while (num_states-- && retval == ERROR_OK) {
+	while (num_states--) {
 
 		/* either TMS=0 or TMS=1 must work ... */
 		if (tap_state_transition(tap_get_state(), false)
@@ -368,27 +408,35 @@ static int ftdi_execute_pathmove(struct jtag_command *cmd)
 		state_count++;
 
 		if (bit_count == 7 || num_states == 0) {
-			retval = mpsse_clock_tms_cs_out(mpsse_ctx,
+			mpsse_clock_tms_cs_out(mpsse_ctx,
 					&tms_byte,
 					0,
 					bit_count,
 					false,
-					JTAG_MODE);
+					ftdi_jtag_mode);
 			bit_count = 0;
 		}
 	}
 	tap_set_end_state(tap_get_state());
-
-	return retval;
 }
 
-static int ftdi_execute_scan(struct jtag_command *cmd)
+static void ftdi_execute_scan(struct jtag_command *cmd)
 {
-	int retval = ERROR_OK;
-
-	DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
+	LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
 		jtag_scan_type(cmd->cmd.scan));
 
+	/* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
+	while (cmd->cmd.scan->num_fields > 0
+			&& cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
+		cmd->cmd.scan->num_fields--;
+		LOG_DEBUG_IO("discarding trailing empty field");
+	}
+
+	if (cmd->cmd.scan->num_fields == 0) {
+		LOG_DEBUG_IO("empty scan, doing nothing");
+		return;
+	}
+
 	if (cmd->cmd.scan->ir_scan) {
 		if (tap_get_state() != TAP_IRSHIFT)
 			move_to_state(TAP_IRSHIFT);
@@ -404,7 +452,7 @@ static int ftdi_execute_scan(struct jtag_command *cmd)
 
 	for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
 		scan_size += field->num_bits;
-		DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
+		LOG_DEBUG_IO("%s%s field %d/%d %d bits",
 			field->in_value ? "in" : "",
 			field->out_value ? "out" : "",
 			i,
@@ -413,34 +461,49 @@ static int ftdi_execute_scan(struct jtag_command *cmd)
 
 		if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
 			/* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
-			 *movement */
+			 * movement. This last field can't have length zero, it was checked above. */
 			mpsse_clock_data(mpsse_ctx,
 				field->out_value,
 				0,
 				field->in_value,
 				0,
 				field->num_bits - 1,
-				JTAG_MODE);
+				ftdi_jtag_mode);
 			uint8_t last_bit = 0;
 			if (field->out_value)
 				bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
-			uint8_t tms_bits = 0x01;
-			retval = mpsse_clock_tms_cs(mpsse_ctx,
+
+			/* If endstate is TAP_IDLE, clock out 1-1-0 (->EXIT1 ->UPDATE ->IDLE)
+			 * Otherwise, clock out 1-0 (->EXIT1 ->PAUSE)
+			 */
+			uint8_t tms_bits = 0x03;
+			mpsse_clock_tms_cs(mpsse_ctx,
 					&tms_bits,
 					0,
 					field->in_value,
 					field->num_bits - 1,
 					1,
 					last_bit,
-					JTAG_MODE);
+					ftdi_jtag_mode);
 			tap_set_state(tap_state_transition(tap_get_state(), 1));
-			retval = mpsse_clock_tms_cs_out(mpsse_ctx,
-					&tms_bits,
-					1,
-					1,
-					last_bit,
-					JTAG_MODE);
-			tap_set_state(tap_state_transition(tap_get_state(), 0));
+			if (tap_get_end_state() == TAP_IDLE) {
+				mpsse_clock_tms_cs_out(mpsse_ctx,
+						&tms_bits,
+						1,
+						2,
+						last_bit,
+						ftdi_jtag_mode);
+				tap_set_state(tap_state_transition(tap_get_state(), 1));
+				tap_set_state(tap_state_transition(tap_get_state(), 0));
+			} else {
+				mpsse_clock_tms_cs_out(mpsse_ctx,
+						&tms_bits,
+						2,
+						1,
+						last_bit,
+						ftdi_jtag_mode);
+				tap_set_state(tap_state_transition(tap_get_state(), 0));
+			}
 		} else
 			mpsse_clock_data(mpsse_ctx,
 				field->out_value,
@@ -448,76 +511,68 @@ static int ftdi_execute_scan(struct jtag_command *cmd)
 				field->in_value,
 				0,
 				field->num_bits,
-				JTAG_MODE);
-		if (retval != ERROR_OK) {
-			LOG_ERROR("failed to add field %d in scan", i);
-			return retval;
-		}
+				ftdi_jtag_mode);
 	}
 
 	if (tap_get_state() != tap_get_end_state())
 		move_to_state(tap_get_end_state());
 
-	DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
+	LOG_DEBUG_IO("%s scan, %i bits, end in %s",
 		(cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
 		tap_state_name(tap_get_end_state()));
-	return retval;
-
 }
 
-static int ftdi_execute_reset(struct jtag_command *cmd)
+static int ftdi_reset(int trst, int srst)
 {
-	DEBUG_JTAG_IO("reset trst: %i srst %i",
-		cmd->cmd.reset->trst, cmd->cmd.reset->srst);
-
-	if (cmd->cmd.reset->trst == 1
-	    || (cmd->cmd.reset->srst
-		&& (jtag_get_reset_config() & RESET_SRST_PULLS_TRST)))
-		tap_set_state(TAP_RESET);
-
-	struct signal *trst = find_signal_by_name("nTRST");
-	if (trst && cmd->cmd.reset->trst == 1) {
-		ftdi_set_signal(trst, '0');
-	} else if (trst && cmd->cmd.reset->trst == 0) {
-		if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
-			ftdi_set_signal(trst, 'z');
-		else
-			ftdi_set_signal(trst, '1');
+	struct signal *sig_ntrst = find_signal_by_name("nTRST");
+	struct signal *sig_nsrst = find_signal_by_name("nSRST");
+
+	LOG_DEBUG_IO("reset trst: %i srst %i", trst, srst);
+
+	if (!swd_mode) {
+		if (trst == 1) {
+			if (sig_ntrst)
+				ftdi_set_signal(sig_ntrst, '0');
+			else
+				LOG_ERROR("Can't assert TRST: nTRST signal is not defined");
+		} else if (sig_ntrst && jtag_get_reset_config() & RESET_HAS_TRST &&
+				trst == 0) {
+			if (jtag_get_reset_config() & RESET_TRST_OPEN_DRAIN)
+				ftdi_set_signal(sig_ntrst, 'z');
+			else
+				ftdi_set_signal(sig_ntrst, '1');
+		}
 	}
 
-	struct signal *srst = find_signal_by_name("nSRST");
-	if (srst && cmd->cmd.reset->srst == 1) {
-		ftdi_set_signal(srst, '0');
-	} else if (srst && cmd->cmd.reset->srst == 0) {
+	if (srst == 1) {
+		if (sig_nsrst)
+			ftdi_set_signal(sig_nsrst, '0');
+		else
+			LOG_ERROR("Can't assert SRST: nSRST signal is not defined");
+	} else if (sig_nsrst && jtag_get_reset_config() & RESET_HAS_SRST &&
+			srst == 0) {
 		if (jtag_get_reset_config() & RESET_SRST_PUSH_PULL)
-			ftdi_set_signal(srst, '1');
+			ftdi_set_signal(sig_nsrst, '1');
 		else
-			ftdi_set_signal(srst, 'z');
+			ftdi_set_signal(sig_nsrst, 'z');
 	}
 
-	DEBUG_JTAG_IO("trst: %i, srst: %i",
-		cmd->cmd.reset->trst, cmd->cmd.reset->srst);
-	return ERROR_OK;
+	return mpsse_flush(mpsse_ctx);
 }
 
-static int ftdi_execute_sleep(struct jtag_command *cmd)
+static void ftdi_execute_sleep(struct jtag_command *cmd)
 {
-	int retval = ERROR_OK;
-
-	DEBUG_JTAG_IO("sleep %" PRIi32, cmd->cmd.sleep->us);
+	LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
 
-	retval = mpsse_flush(mpsse_ctx);
+	mpsse_flush(mpsse_ctx);
 	jtag_sleep(cmd->cmd.sleep->us);
-	DEBUG_JTAG_IO("sleep %" PRIi32 " usec while in %s",
+	LOG_DEBUG_IO("sleep %" PRIu32 " usec while in %s",
 		cmd->cmd.sleep->us,
 		tap_state_name(tap_get_state()));
-	return retval;
 }
 
-static int ftdi_execute_stableclocks(struct jtag_command *cmd)
+static void ftdi_execute_stableclocks(struct jtag_command *cmd)
 {
-	int retval = ERROR_OK;
-
 	/* this is only allowed while in a stable state.  A check for a stable
 	 * state was done in jtag_add_clocks()
 	 */
@@ -528,60 +583,50 @@ static int ftdi_execute_stableclocks(struct jtag_command *cmd)
 
 	/* TODO: Use mpsse_clock_data with in=out=0 for this, if TMS can be set to
 	 * the correct level and remain there during the scan */
-	while (num_cycles > 0 && retval == ERROR_OK) {
+	while (num_cycles > 0) {
 		/* there are no state transitions in this code, so omit state tracking */
 		unsigned this_len = num_cycles > 7 ? 7 : num_cycles;
-		retval = mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, JTAG_MODE);
+		mpsse_clock_tms_cs_out(mpsse_ctx, &tms, 0, this_len, false, ftdi_jtag_mode);
 		num_cycles -= this_len;
 	}
 
-	DEBUG_JTAG_IO("clocks %i while in %s",
+	LOG_DEBUG_IO("clocks %i while in %s",
 		cmd->cmd.stableclocks->num_cycles,
 		tap_state_name(tap_get_state()));
-	return retval;
 }
 
-static int ftdi_execute_command(struct jtag_command *cmd)
+static void ftdi_execute_command(struct jtag_command *cmd)
 {
-	int retval;
-
 	switch (cmd->type) {
-		case JTAG_RESET:
-			retval = ftdi_execute_reset(cmd);
-			break;
 		case JTAG_RUNTEST:
-			retval = ftdi_execute_runtest(cmd);
+			ftdi_execute_runtest(cmd);
 			break;
 		case JTAG_TLR_RESET:
-			retval = ftdi_execute_statemove(cmd);
+			ftdi_execute_statemove(cmd);
 			break;
 		case JTAG_PATHMOVE:
-			retval = ftdi_execute_pathmove(cmd);
+			ftdi_execute_pathmove(cmd);
 			break;
 		case JTAG_SCAN:
-			retval = ftdi_execute_scan(cmd);
+			ftdi_execute_scan(cmd);
 			break;
 		case JTAG_SLEEP:
-			retval = ftdi_execute_sleep(cmd);
+			ftdi_execute_sleep(cmd);
 			break;
 		case JTAG_STABLECLOCKS:
-			retval = ftdi_execute_stableclocks(cmd);
+			ftdi_execute_stableclocks(cmd);
 			break;
 		case JTAG_TMS:
-			retval = ftdi_execute_tms(cmd);
+			ftdi_execute_tms(cmd);
 			break;
 		default:
 			LOG_ERROR("BUG: unknown JTAG command type encountered: %d", cmd->type);
-			retval = ERROR_JTAG_QUEUE_FAILED;
 			break;
 	}
-	return retval;
 }
 
 static int ftdi_execute_queue(void)
 {
-	int retval = ERROR_OK;
-
 	/* blink, if the current layout has that feature */
 	struct signal *led = find_signal_by_name("LED");
 	if (led)
@@ -589,14 +634,13 @@ static int ftdi_execute_queue(void)
 
 	for (struct jtag_command *cmd = jtag_command_queue; cmd; cmd = cmd->next) {
 		/* fill the write buffer with the desired command */
-		if (ftdi_execute_command(cmd) != ERROR_OK)
-			retval = ERROR_JTAG_QUEUE_FAILED;
+		ftdi_execute_command(cmd);
 	}
 
 	if (led)
 		ftdi_set_signal(led, '0');
 
-	retval = mpsse_flush(mpsse_ctx);
+	int retval = mpsse_flush(mpsse_ctx);
 	if (retval != ERROR_OK)
 		LOG_ERROR("error while flushing MPSSE queue: %d", retval);
 
@@ -605,37 +649,42 @@ static int ftdi_execute_queue(void)
 
 static int ftdi_initialize(void)
 {
-	int retval;
-
 	if (tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRPAUSE) == 7)
 		LOG_DEBUG("ftdi interface using 7 step jtag state transitions");
 	else
 		LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 
-	for (int i = 0; ftdi_vid[i] || ftdi_pid[i]; i++) {
-		mpsse_ctx = mpsse_open(&ftdi_vid[i], &ftdi_pid[i], ftdi_device_desc,
-				ftdi_serial, ftdi_channel);
-		if (mpsse_ctx)
-			break;
+	if (!ftdi_vid[0] && !ftdi_pid[0]) {
+		LOG_ERROR("Please specify ftdi vid_pid");
+		return ERROR_JTAG_INIT_FAILED;
 	}
 
+	mpsse_ctx = mpsse_open(ftdi_vid, ftdi_pid, ftdi_device_desc,
+				adapter_get_required_serial(), adapter_usb_get_location(), ftdi_channel);
 	if (!mpsse_ctx)
 		return ERROR_JTAG_INIT_FAILED;
 
-	retval = mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
-	if (retval == ERROR_OK)
-		retval = mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
-	if (retval != ERROR_OK)	{
-		LOG_ERROR("couldn't initialize FTDI with 'JTAGkey' layout");
-		return ERROR_JTAG_INIT_FAILED;
-	}
+	output = jtag_output_init;
+	direction = jtag_direction_init;
 
-	retval = mpsse_loopback_config(mpsse_ctx, false);
-	if (retval != ERROR_OK) {
-		LOG_ERROR("couldn't write to FTDI to disable loopback");
-		return ERROR_JTAG_INIT_FAILED;
+	if (swd_mode) {
+		struct signal *sig = find_signal_by_name("SWD_EN");
+		if (!sig) {
+			LOG_ERROR("SWD mode is active but SWD_EN signal is not defined");
+			return ERROR_JTAG_INIT_FAILED;
+		}
+		/* A dummy SWD_EN would have zero mask */
+		if (sig->data_mask)
+			ftdi_set_signal(sig, '1');
 	}
 
+	mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
+	mpsse_set_data_bits_high_byte(mpsse_ctx, output >> 8, direction >> 8);
+
+	mpsse_loopback_config(mpsse_ctx, false);
+
+	freq = mpsse_set_frequency(mpsse_ctx, adapter_get_speed_khz() * 1000);
+
 	return mpsse_flush(mpsse_ctx);
 }
 
@@ -643,30 +692,28 @@ static int ftdi_quit(void)
 {
 	mpsse_close(mpsse_ctx);
 
-	return ERROR_OK;
-}
-
-COMMAND_HANDLER(ftdi_handle_device_desc_command)
-{
-	if (CMD_ARGC == 1) {
-		if (ftdi_device_desc)
-			free(ftdi_device_desc);
-		ftdi_device_desc = strdup(CMD_ARGV[0]);
-	} else {
-		LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
+	struct signal *sig = signals;
+	while (sig) {
+		struct signal *next = sig->next;
+		free((void *)sig->name);
+		free(sig);
+		sig = next;
 	}
 
+	free(ftdi_device_desc);
+
+	free(swd_cmd_queue);
+
 	return ERROR_OK;
 }
 
-COMMAND_HANDLER(ftdi_handle_serial_command)
+COMMAND_HANDLER(ftdi_handle_device_desc_command)
 {
 	if (CMD_ARGC == 1) {
-		if (ftdi_serial)
-			free(ftdi_serial);
-		ftdi_serial = strdup(CMD_ARGV[0]);
+		free(ftdi_device_desc);
+		ftdi_device_desc = strdup(CMD_ARGV[0]);
 	} else {
-		return ERROR_COMMAND_SYNTAX_ERROR;
+		LOG_ERROR("expected exactly one argument to ftdi device_desc <description>");
 	}
 
 	return ERROR_OK;
@@ -687,8 +734,8 @@ COMMAND_HANDLER(ftdi_handle_layout_init_command)
 	if (CMD_ARGC != 2)
 		return ERROR_COMMAND_SYNTAX_ERROR;
 
-	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], output);
-	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], direction);
+	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0], jtag_output_init);
+	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[1], jtag_direction_init);
 
 	return ERROR_OK;
 }
@@ -700,6 +747,8 @@ COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 
 	bool invert_data = false;
 	uint16_t data_mask = 0;
+	bool invert_input = false;
+	uint16_t input_mask = 0;
 	bool invert_oe = false;
 	uint16_t oe_mask = 0;
 	for (unsigned i = 1; i < CMD_ARGC; i += 2) {
@@ -709,12 +758,35 @@ COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 		} else if (strcmp("-ndata", CMD_ARGV[i]) == 0) {
 			invert_data = true;
 			COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], data_mask);
+		} else if (strcmp("-input", CMD_ARGV[i]) == 0) {
+			invert_input = false;
+			COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
+		} else if (strcmp("-ninput", CMD_ARGV[i]) == 0) {
+			invert_input = true;
+			COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], input_mask);
 		} else if (strcmp("-oe", CMD_ARGV[i]) == 0) {
 			invert_oe = false;
 			COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
 		} else if (strcmp("-noe", CMD_ARGV[i]) == 0) {
 			invert_oe = true;
 			COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], oe_mask);
+		} else if (!strcmp("-alias", CMD_ARGV[i]) ||
+			   !strcmp("-nalias", CMD_ARGV[i])) {
+			if (!strcmp("-nalias", CMD_ARGV[i])) {
+				invert_data = true;
+				invert_input = true;
+			}
+			struct signal *sig = find_signal_by_name(CMD_ARGV[i + 1]);
+			if (!sig) {
+				LOG_ERROR("signal %s is not defined", CMD_ARGV[i + 1]);
+				return ERROR_FAIL;
+			}
+			data_mask = sig->data_mask;
+			input_mask = sig->input_mask;
+			oe_mask = sig->oe_mask;
+			invert_input ^= sig->invert_input;
+			invert_oe = sig->invert_oe;
+			invert_data ^= sig->invert_data;
 		} else {
 			LOG_ERROR("unknown option '%s'", CMD_ARGV[i]);
 			return ERROR_COMMAND_SYNTAX_ERROR;
@@ -732,6 +804,8 @@ COMMAND_HANDLER(ftdi_handle_layout_signal_command)
 
 	sig->invert_data = invert_data;
 	sig->data_mask = data_mask;
+	sig->invert_input = invert_input;
+	sig->input_mask = input_mask;
 	sig->invert_oe = invert_oe;
 	sig->oe_mask = oe_mask;
 
@@ -760,6 +834,7 @@ COMMAND_HANDLER(ftdi_handle_set_signal_command)
 			ftdi_set_signal(sig, *CMD_ARGV[1]);
 			break;
 		}
+		/* fallthrough */
 	default:
 		LOG_ERROR("unknown signal level '%s', use 0, 1 or z", CMD_ARGV[1]);
 		return ERROR_COMMAND_SYNTAX_ERROR;
@@ -768,15 +843,37 @@ COMMAND_HANDLER(ftdi_handle_set_signal_command)
 	return mpsse_flush(mpsse_ctx);
 }
 
+COMMAND_HANDLER(ftdi_handle_get_signal_command)
+{
+	if (CMD_ARGC < 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	struct signal *sig;
+	uint16_t sig_data = 0;
+	sig = find_signal_by_name(CMD_ARGV[0]);
+	if (!sig) {
+		LOG_ERROR("interface configuration doesn't define signal '%s'", CMD_ARGV[0]);
+		return ERROR_FAIL;
+	}
+
+	int ret = ftdi_get_signal(sig, &sig_data);
+	if (ret != ERROR_OK)
+		return ret;
+
+	LOG_USER("Signal %s = %#06x", sig->name, sig_data);
+
+	return ERROR_OK;
+}
+
 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 {
 	if (CMD_ARGC > MAX_USB_IDS * 2) {
-		LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
+		LOG_WARNING("ignoring extra IDs in ftdi vid_pid "
 			"(maximum is %d pairs)", MAX_USB_IDS);
 		CMD_ARGC = MAX_USB_IDS * 2;
 	}
 	if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
-		LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
+		LOG_WARNING("incomplete ftdi vid_pid configuration directive");
 		if (CMD_ARGC < 2)
 			return ERROR_COMMAND_SYNTAX_ERROR;
 		/* remove the incomplete trailing id */
@@ -791,37 +888,53 @@ COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 
 	/*
 	 * Explicitly terminate, in case there are multiples instances of
-	 * ftdi_vid_pid.
+	 * ftdi vid_pid.
 	 */
 	ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 
 	return ERROR_OK;
 }
 
-static const struct command_registration ftdi_command_handlers[] = {
+COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
+{
+	const struct nvp *n;
+	static const struct nvp nvp_ftdi_jtag_modes[] = {
+		{ .name = "rising", .value = JTAG_MODE },
+		{ .name = "falling", .value = JTAG_MODE_ALT },
+		{ .name = NULL, .value = -1 },
+	};
+
+	if (CMD_ARGC > 0) {
+		n = nvp_name2value(nvp_ftdi_jtag_modes, CMD_ARGV[0]);
+		if (!n->name)
+			return ERROR_COMMAND_SYNTAX_ERROR;
+		ftdi_jtag_mode = n->value;
+
+	}
+
+	n = nvp_value2name(nvp_ftdi_jtag_modes, ftdi_jtag_mode);
+	command_print(CMD, "ftdi samples TDO on %s edge of TCK", n->name);
+
+	return ERROR_OK;
+}
+
+static const struct command_registration ftdi_subcommand_handlers[] = {
 	{
-		.name = "ftdi_device_desc",
+		.name = "device_desc",
 		.handler = &ftdi_handle_device_desc_command,
 		.mode = COMMAND_CONFIG,
 		.help = "set the USB device description of the FTDI device",
 		.usage = "description_string",
 	},
 	{
-		.name = "ftdi_serial",
-		.handler = &ftdi_handle_serial_command,
-		.mode = COMMAND_CONFIG,
-		.help = "set the serial number of the FTDI device",
-		.usage = "serial_string",
-	},
-	{
-		.name = "ftdi_channel",
+		.name = "channel",
 		.handler = &ftdi_handle_channel_command,
 		.mode = COMMAND_CONFIG,
 		.help = "set the channel of the FTDI device that is used as JTAG",
 		.usage = "(0-3)",
 	},
 	{
-		.name = "ftdi_layout_init",
+		.name = "layout_init",
 		.handler = &ftdi_handle_layout_init_command,
 		.mode = COMMAND_CONFIG,
 		.help = "initialize the FTDI GPIO signals used "
@@ -829,40 +942,330 @@ static const struct command_registration ftdi_command_handlers[] = {
 		.usage = "data direction",
 	},
 	{
-		.name = "ftdi_layout_signal",
+		.name = "layout_signal",
 		.handler = &ftdi_handle_layout_signal_command,
 		.mode = COMMAND_ANY,
 		.help = "define a signal controlled by one or more FTDI GPIO as data "
 			"and/or output enable",
-		.usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask]",
+		.usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
 	},
 	{
-		.name = "ftdi_set_signal",
+		.name = "set_signal",
 		.handler = &ftdi_handle_set_signal_command,
 		.mode = COMMAND_EXEC,
 		.help = "control a layout-specific signal",
 		.usage = "name (1|0|z)",
 	},
 	{
-		.name = "ftdi_vid_pid",
+		.name = "get_signal",
+		.handler = &ftdi_handle_get_signal_command,
+		.mode = COMMAND_EXEC,
+		.help = "read the value of a layout-specific signal",
+		.usage = "name",
+	},
+	{
+		.name = "vid_pid",
 		.handler = &ftdi_handle_vid_pid_command,
 		.mode = COMMAND_CONFIG,
 		.help = "the vendor ID and product ID of the FTDI device",
-		.usage = "(vid pid)* ",
+		.usage = "(vid pid)*",
+	},
+	{
+		.name = "tdo_sample_edge",
+		.handler = &ftdi_handle_tdo_sample_edge_command,
+		.mode = COMMAND_ANY,
+		.help = "set which TCK clock edge is used for sampling TDO "
+			"- default is rising-edge (Setting to falling-edge may "
+			"allow signalling speed increase)",
+		.usage = "(rising|falling)",
 	},
 	COMMAND_REGISTRATION_DONE
 };
 
-struct jtag_interface ftdi_interface = {
-	.name = "ftdi",
+static const struct command_registration ftdi_command_handlers[] = {
+	{
+		.name = "ftdi",
+		.mode = COMMAND_ANY,
+		.help = "perform ftdi management",
+		.chain = ftdi_subcommand_handlers,
+		.usage = "",
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
+static int create_default_signal(const char *name, uint16_t data_mask)
+{
+	struct signal *sig = create_signal(name);
+	if (!sig) {
+		LOG_ERROR("failed to create signal %s", name);
+		return ERROR_FAIL;
+	}
+	sig->invert_data = false;
+	sig->data_mask = data_mask;
+	sig->invert_oe = false;
+	sig->oe_mask = 0;
+
+	return ERROR_OK;
+}
+
+static int create_signals(void)
+{
+	if (create_default_signal("TCK", 0x01) != ERROR_OK)
+		return ERROR_FAIL;
+	if (create_default_signal("TDI", 0x02) != ERROR_OK)
+		return ERROR_FAIL;
+	if (create_default_signal("TDO", 0x04) != ERROR_OK)
+		return ERROR_FAIL;
+	if (create_default_signal("TMS", 0x08) != ERROR_OK)
+		return ERROR_FAIL;
+	return ERROR_OK;
+}
+
+static int ftdi_swd_init(void)
+{
+	LOG_INFO("FTDI SWD mode enabled");
+	swd_mode = true;
+
+	if (create_signals() != ERROR_OK)
+		return ERROR_FAIL;
+
+	swd_cmd_queue_alloced = 10;
+	swd_cmd_queue = malloc(swd_cmd_queue_alloced * sizeof(*swd_cmd_queue));
+
+	return swd_cmd_queue ? ERROR_OK : ERROR_FAIL;
+}
+
+static void ftdi_swd_swdio_en(bool enable)
+{
+	struct signal *oe = find_signal_by_name("SWDIO_OE");
+	if (oe) {
+		if (oe->data_mask)
+			ftdi_set_signal(oe, enable ? '1' : '0');
+		else {
+			/* Sets TDI/DO pin to input during rx when both pins are connected
+			   to SWDIO */
+			if (enable)
+				direction |= jtag_direction_init & 0x0002U;
+			else
+				direction &= ~0x0002U;
+			mpsse_set_data_bits_low_byte(mpsse_ctx, output & 0xff, direction & 0xff);
+		}
+	}
+}
+
+/**
+ * Flush the MPSSE queue and process the SWD transaction queue
+ * @return
+ */
+static int ftdi_swd_run_queue(void)
+{
+	LOG_DEBUG_IO("Executing %zu queued transactions", swd_cmd_queue_length);
+	int retval;
+	struct signal *led = find_signal_by_name("LED");
+
+	if (queued_retval != ERROR_OK) {
+		LOG_DEBUG_IO("Skipping due to previous errors: %d", queued_retval);
+		goto skip;
+	}
+
+	/* A transaction must be followed by another transaction or at least 8 idle cycles to
+	 * ensure that data is clocked through the AP. */
+	mpsse_clock_data_out(mpsse_ctx, NULL, 0, 8, SWD_MODE);
+
+	/* Terminate the "blink", if the current layout has that feature */
+	if (led)
+		ftdi_set_signal(led, '0');
+
+	queued_retval = mpsse_flush(mpsse_ctx);
+	if (queued_retval != ERROR_OK) {
+		LOG_ERROR("MPSSE failed");
+		goto skip;
+	}
+
+	for (size_t i = 0; i < swd_cmd_queue_length; i++) {
+		int ack = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1, 3);
+
+		/* Devices do not reply to DP_TARGETSEL write cmd, ignore received ack */
+		bool check_ack = swd_cmd_returns_ack(swd_cmd_queue[i].cmd);
+
+		LOG_DEBUG_IO("%s%s %s %s reg %X = %08"PRIx32,
+				check_ack ? "" : "ack ignored ",
+				ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
+				swd_cmd_queue[i].cmd & SWD_CMD_APNDP ? "AP" : "DP",
+				swd_cmd_queue[i].cmd & SWD_CMD_RNW ? "read" : "write",
+				(swd_cmd_queue[i].cmd & SWD_CMD_A32) >> 1,
+				buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn,
+						1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RNW ? 0 : 1), 32));
+
+		if (ack != SWD_ACK_OK && check_ack) {
+			queued_retval = swd_ack_to_error_code(ack);
+			goto skip;
+
+		} else if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
+			uint32_t data = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3, 32);
+			int parity = buf_get_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 32, 1);
+
+			if (parity != parity_u32(data)) {
+				LOG_ERROR("SWD Read data parity mismatch");
+				queued_retval = ERROR_FAIL;
+				goto skip;
+			}
+
+			if (swd_cmd_queue[i].dst)
+				*swd_cmd_queue[i].dst = data;
+		}
+	}
+
+skip:
+	swd_cmd_queue_length = 0;
+	retval = queued_retval;
+	queued_retval = ERROR_OK;
+
+	/* Queue a new "blink" */
+	if (led && retval == ERROR_OK)
+		ftdi_set_signal(led, '1');
+
+	return retval;
+}
+
+static void ftdi_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data, uint32_t ap_delay_clk)
+{
+	if (swd_cmd_queue_length >= swd_cmd_queue_alloced) {
+		/* Not enough room in the queue. Run the queue and increase its size for next time.
+		 * Note that it's not possible to avoid running the queue here, because mpsse contains
+		 * pointers into the queue which may be invalid after the realloc. */
+		queued_retval = ftdi_swd_run_queue();
+		struct swd_cmd_queue_entry *q = realloc(swd_cmd_queue, swd_cmd_queue_alloced * 2 * sizeof(*swd_cmd_queue));
+		if (q) {
+			swd_cmd_queue = q;
+			swd_cmd_queue_alloced *= 2;
+			LOG_DEBUG("Increased SWD command queue to %zu elements", swd_cmd_queue_alloced);
+		}
+	}
+
+	if (queued_retval != ERROR_OK)
+		return;
+
+	size_t i = swd_cmd_queue_length++;
+	swd_cmd_queue[i].cmd = cmd | SWD_CMD_START | SWD_CMD_PARK;
+
+	mpsse_clock_data_out(mpsse_ctx, &swd_cmd_queue[i].cmd, 0, 8, SWD_MODE);
+
+	if (swd_cmd_queue[i].cmd & SWD_CMD_RNW) {
+		/* Queue a read transaction */
+		swd_cmd_queue[i].dst = dst;
+
+		ftdi_swd_swdio_en(false);
+		mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
+				0, 1 + 3 + 32 + 1 + 1, SWD_MODE);
+		ftdi_swd_swdio_en(true);
+	} else {
+		/* Queue a write transaction */
+		ftdi_swd_swdio_en(false);
+
+		mpsse_clock_data_in(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
+				0, 1 + 3 + 1, SWD_MODE);
+
+		ftdi_swd_swdio_en(true);
+
+		buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1, 32, data);
+		buf_set_u32(swd_cmd_queue[i].trn_ack_data_parity_trn, 1 + 3 + 1 + 32, 1, parity_u32(data));
+
+		mpsse_clock_data_out(mpsse_ctx, swd_cmd_queue[i].trn_ack_data_parity_trn,
+				1 + 3 + 1, 32 + 1, SWD_MODE);
+	}
+
+	/* Insert idle cycles after AP accesses to avoid WAIT */
+	if (cmd & SWD_CMD_APNDP)
+		mpsse_clock_data_out(mpsse_ctx, NULL, 0, ap_delay_clk, SWD_MODE);
+
+}
+
+static void ftdi_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
+{
+	assert(cmd & SWD_CMD_RNW);
+	ftdi_swd_queue_cmd(cmd, value, 0, ap_delay_clk);
+}
+
+static void ftdi_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
+{
+	assert(!(cmd & SWD_CMD_RNW));
+	ftdi_swd_queue_cmd(cmd, NULL, value, ap_delay_clk);
+}
+
+static int ftdi_swd_switch_seq(enum swd_special_seq seq)
+{
+	switch (seq) {
+	case LINE_RESET:
+		LOG_DEBUG("SWD line reset");
+		ftdi_swd_swdio_en(true);
+		mpsse_clock_data_out(mpsse_ctx, swd_seq_line_reset, 0, swd_seq_line_reset_len, SWD_MODE);
+		break;
+	case JTAG_TO_SWD:
+		LOG_DEBUG("JTAG-to-SWD");
+		ftdi_swd_swdio_en(true);
+		mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_swd, 0, swd_seq_jtag_to_swd_len, SWD_MODE);
+		break;
+	case JTAG_TO_DORMANT:
+		LOG_DEBUG("JTAG-to-DORMANT");
+		ftdi_swd_swdio_en(true);
+		mpsse_clock_data_out(mpsse_ctx, swd_seq_jtag_to_dormant, 0, swd_seq_jtag_to_dormant_len, SWD_MODE);
+		break;
+	case SWD_TO_JTAG:
+		LOG_DEBUG("SWD-to-JTAG");
+		ftdi_swd_swdio_en(true);
+		mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_jtag, 0, swd_seq_swd_to_jtag_len, SWD_MODE);
+		break;
+	case SWD_TO_DORMANT:
+		LOG_DEBUG("SWD-to-DORMANT");
+		ftdi_swd_swdio_en(true);
+		mpsse_clock_data_out(mpsse_ctx, swd_seq_swd_to_dormant, 0, swd_seq_swd_to_dormant_len, SWD_MODE);
+		break;
+	case DORMANT_TO_SWD:
+		LOG_DEBUG("DORMANT-to-SWD");
+		ftdi_swd_swdio_en(true);
+		mpsse_clock_data_out(mpsse_ctx, swd_seq_dormant_to_swd, 0, swd_seq_dormant_to_swd_len, SWD_MODE);
+		break;
+	case DORMANT_TO_JTAG:
+		LOG_DEBUG("DORMANT-to-JTAG");
+		ftdi_swd_swdio_en(true);
+		mpsse_clock_data_out(mpsse_ctx, swd_seq_dormant_to_jtag, 0, swd_seq_dormant_to_jtag_len, SWD_MODE);
+		break;
+	default:
+		LOG_ERROR("Sequence %d not supported", seq);
+		return ERROR_FAIL;
+	}
+
+	return ERROR_OK;
+}
+
+static const struct swd_driver ftdi_swd = {
+	.init = ftdi_swd_init,
+	.switch_seq = ftdi_swd_switch_seq,
+	.read_reg = ftdi_swd_read_reg,
+	.write_reg = ftdi_swd_write_reg,
+	.run = ftdi_swd_run_queue,
+};
+
+static const char * const ftdi_transports[] = { "jtag", "swd", NULL };
+
+static struct jtag_interface ftdi_interface = {
 	.supported = DEBUG_CAP_TMS_SEQ,
+	.execute_queue = ftdi_execute_queue,
+};
+
+struct adapter_driver ftdi_adapter_driver = {
+	.name = "ftdi",
+	.transports = ftdi_transports,
 	.commands = ftdi_command_handlers,
-	.transports = jtag_only,
 
 	.init = ftdi_initialize,
 	.quit = ftdi_quit,
+	.reset = ftdi_reset,
 	.speed = ftdi_speed,
-	.speed_div = ftdi_speed_div,
 	.khz = ftdi_khz,
-	.execute_queue = ftdi_execute_queue,
+	.speed_div = ftdi_speed_div,
+
+	.jtag_ops = &ftdi_interface,
+	.swd_ops = &ftdi_swd,
 };